JPH0778443B2 - How to measure the volume of cargo loaded in a carrier - Google Patents

Description

TECHNICAL FIELD The present invention relates to a volume measuring method for measuring the volume of a load such as earth and sand or rock crush loaded in a carrier.

≪Conventional technology≫ As a kind of landfill method for harbors, dredged sand and sand,
A method is known in which sediment and rock fragments collected from the mountains are transported to a landfill site by a carrier and then put into the water.

In this type of construction method, the volume of earth and sand, etc. necessary for landfill is calculated in advance, and the required amount of earth and sand, and rock pieces will be transported. It is an important management item for checking the progress status of the construction and calculating the construction cost.

By the way, the volume of sediment, rocks, etc. carried by a carrier is
Conventionally, these were measured from the waterline of a ship when they were loaded, but there was a problem that sufficient measurement accuracy could not be obtained.

Therefore, for example, in Japanese Utility Model Laid-Open No. 61-63105, a plurality of ultrasonic wave transmitters / receivers are installed above a carrier, and ultrasonic waves are projected on a load placed on the carrier to reflect reflected waves from the load. A device has been proposed which measures the distance to the wave transmitter / receiver by receiving the, and calculates the volume of the load based on this value.

However, the volume measuring device disclosed in the above publication has the technical problems described below.

<< Problems to be Solved by the Invention >> That is, in the volume measuring device disclosed in the above publication, ultrasonic waves are used to measure the distance, and therefore, there is a problem that it is easily affected by wind.

In other words, because ultrasonic waves are a type of sound waves, they are swept by the wind, and the projection position of the ultrasonic waves on the load is displaced by the wind,
Moreover, since the location where the volume is measured is on the sea and the size and direction of the wind fluctuate greatly, sufficient measurement accuracy cannot be obtained.

In addition, the load, which is the object of measurement, may change its surface condition due to being covered with waves or getting wet with rain, but there is also a problem that the measurement accuracy fluctuates even with such a change in condition. .

The present invention has been made in view of the above-mentioned conventional problems, and the object thereof is to be hardly affected by changes in surrounding weather conditions, and to tilt a carrier ship or the like. Another object of the present invention is to provide a method for measuring the volume of a load loaded in a carrier, which enables highly accurate measurement even when fluctuations occur.

<< Means for Solving the Problem >> In order to achieve the above object, the method of measuring the volume of a load loaded in a carrier according to the present invention is a container of a carrier by a volume measuring device from a quay where the carrier is berthed. A method for measuring the volume of a load loaded in a carrier for measuring the volume of a load such as earth and sand or crushed rock, wherein the volume measuring device receives reflected light of emitted light. And a light wave range finder for measuring the distance and angle to the container part or the load, and a color difference meter or prism for identifying a specific position provided on the container part and measuring the distance and angle to the specific position. Type light distance meter and the like, and the light distance meter and the distinguishing means are arranged above the container part, and the light distance meter is swung in the cross-sectional direction of the load so that each side of the cross-sectional direction is changed. Measuring distances and angles at points , Measuring the distance and angle to the specific position by the identifying means, the error due to the variation of the carrier of the measurement result at each side point of the cross-sectional direction, based on the variation of the measurement result of the specific position, From the corrected measurement results at each side point,
It is characterized in that the cross-sectional shape of the load in the container section is obtained and the volume of the load is measured.

<< Operation >> According to the volume measuring device having the above configuration, the distance to the load is measured by the optical distance meter, and the volume of the load is calculated based on this value. Highly accurate measurement is possible without receiving it. Further, even if the carrier has a variation such as a tilt, the measurement error due to the variation is corrected based on the measurement result of the specific position by the identification means such as a color difference meter or a prism type optical distance meter.

<< Examples >> Hereinafter, preferred examples of the present invention will be described in detail with reference to the accompanying drawings.

1 to 6 show the construction of an apparatus for measuring the volume of a load loaded in a carrier by a volume measuring method according to an embodiment of the present invention.

As shown in FIG. 1, the device shown in FIG. 1 is for measuring the volume of a load 14 in which a mixture of rock crushed and earth and sand is piled up in a container 12 of a carrier 10, The container portion 12 has a side wall 12a inclined inward and an opening / closing lid 12b provided at a lower end of the side wall 12a, and a flange 12c extending horizontally is provided at an upper end of the side wall 12a. .

In addition, the volume measuring device shown in FIG.
The ship loader 16 is placed above the load 14 using the ship loader 16 for loading the ship, and the ship loader 16 is located on the quay where the carrier 10 is ported and extends along the length of the carrier 10. A moving carriage 16a that travels along the moving vehicle 16a, a carry-in belt conveyor 16b extending along the moving direction of the mobile car 16a, and a shuttle conveyor 16c for loading the load 14 received from the carry-in belt conveyor 16b into the container portion 12 of the carried object 10. The shuttle conveyor 16c can move in the width direction of the carrier 10.

In this embodiment, the shuttle conveyor 16c is moved in the length direction of the carrier 10 at a constant speed by the moving carriage 16a, and is almost in the container portion 12 when moving from one end of the carrier 10 to the other end. Since half the amount of the load 14 is loaded and the entire amount of the load 14 is loaded when returning to the original position from the other end side, the measurement of the load 14 by the volume measuring device is performed from the other end side. This is performed when the moving carriage 16a returns to the position.

An arm 18 extending along the moving direction of the shuttle conveyor 16c is fixedly provided on the lower surface of the shuttle conveyor 16c. The arm 18 has a pair of optical distance meters at predetermined intervals in the width direction of the carrier 10.
20 and 20 are installed.

The details of the mounting structure of the optical distance meter 20 are shown in FIG.

The lightwave rangefinder 20 emits a laser beam in a pulse shape, receives a reflected lightwave from an object to be measured, and measures the distance from the time difference between transmission and reception of the lightwave. In the width direction, after intermittently oscillating by a predetermined angle in a direction in which they approach each other, on the contrary, they are intermittently oscillating by a predetermined angle in a direction in which they are separated from each other. For example, it is supported by a rotary shaft 22a of a drive motor 22 including a stepping motor.

The swing movement of the lightwave distance meter 20 as described above is performed in synchronization with the pair of distance meters 20, 20.

An angle sensor 24 for detecting the rotation angle of the drive motor 22 and a color difference meter 26 as an identification means are coaxially attached to the rotation shaft 22a.

This color difference meter 26, when measuring the volume of the load 14 loaded in the container portion 12 of the carrier 10, when correcting the measurement error due to the inclination of the carrier 10, the level of the carrier 10 is required. Specific position (flange 12 of container 12 in this embodiment)
(set to c) is identified as a color difference, and
It is used to select a value corresponding to this specific position (flange 12c) from the measured values obtained by swinging 0.

In this case, in order to improve the detection accuracy of the specific position by the color difference meter 26, the upper surface of the flange 12c of the container 12 and the side wall 1
It is desirable to clarify the color difference from the inner surface of 2a and to paint the upper surface of the flange 12c with red or yellow paint, for example.

On the other hand, a computing device 28 is placed on the arm 18, and the computing device 28 is used for loading the load 14 by the lightwave rangefinder 20.
Distance measurement value = up to and the swing angle θ corresponding to each distance measurement value = is used as an input signal from the angle sensor 24, and based on these values, the optical distance meter 20 is cut on the trajectory swung. The sectional area of the loaded article 14 is calculated, and the volume of the loaded article 14 is calculated based on the calculated value of the sectional area.

FIG. 4 shows the procedure for calculating the volume of the load 14 by the arithmetic unit 28.

When the processing procedure starts, first in step 1, the color difference meter
26 is a flange 12c of the container portion 12 at a specific position (5th
(Shown by A and B in the figure) is performed, and when A and B are identified, a pair of optical rangefinders 2 from this position are detected in step 2.
The 0 and 20 are intermittently moved by the drive motor 22 in a direction in which they approach each other, and then are moved in a direction in which they are separated from each other, and these movements are performed in synchronization.

Each swing angle θn during this movement and the distance measurement value ln to the load 14 are respectively taken in in step 3, and each distance measurement value ln is coordinate Xi, Yi with the center O of the lightwave rangefinder 20 as the coordinate axis.
Is stored as

In the following step 4, the swing angle γ of the carrier 10 is calculated.

The swing angle γ is obtained from the state shown in FIG. 5 by the following formula.

Here, in FIG. 5, the center of the pair of lightwave distance meters 20, 20 is set to 0, the distance to the left and right lightwave distances L and R is set to a, −a, and each lightwave distance meter L and R and a specific position ( The angle between the line segment connecting the flange 12c, which is shown by A and B in FIG. 5) and the vertical line are respectively θ _L and θ _R , and the line segments Ap and Bp are the container portion 12 of the carrier 10. The extension of the side wall 12a has an angle of 2α between these line segments, and a, −a, Ap, Bp, α are known values.

The specific positions A and B are identified by the color difference meter 26, and the angles θ _L ,
θ _R is measured by the angle sensor 24.

In step 5, based on the swing angle γ, the swing center O ′
Is calculated.

In FIG. 5, the equation of the straight line Ap is X = tan (α + γ) (y
+ P) and Bp are expressed by X = tan (α−γ) (y + q).

Here, p = l _L {cos θ _L + sin θ _L · cot (α +
γ)} + acot (α + γ), q = l _R {cos θ _R + sin θ _R
・ Cot (α + γ)} + acot (α-γ).

Further, tan (α + γ) = m A, tan (α-γ) = When _{m B,} the coordinates of the point P in FIG. 5, the And O'Q = Xpcotγ, And this is designated as b.

In step 6, the coordinates are exchanged from the coordinate axis O to the swing center O '.

If the coordinates with O'as the origin are Oi, yi, The coordinate conversion of each distance measurement value ln is performed by the equation.

In step 7, the intersection C where the load 14 contacts the side wall 12a is calculated.

To obtain the intersection C, first, the two measurement points 1 and 2 closest to the point C are selected, and the slope m _{12 of the} line segment connecting the measurement points 1 and 2 is selected.
There is calculated _{(m 12 = tanδ = y 1R} -y 2R / X 1R -X 2R).

As a result, the equations of the straight lines 1 and 2 are expressed as y = m ₁₂ + OO ′, and O′P = O′Q / cosγ = Xp / cosγ, so that the straight lines 12 and O ′
When the intersection of P is O ″, O ″ P = O′P−O′O ″ =
Xp / cos = a _{(y 1R -m 12 X 1R)} .

On the other hand, the equation of the straight line BP is O ″ P−y = Xtanβ = Xp / cosγ−
It becomes y.

Here, Xp / cosγ = d, tanβ = m β, OO "= When e, the coordinate of the intersection point _{C, d-y = m β} X,
From y = m ₁₂ X + e Required by.

When the intersection C is obtained as described above, the area of S is calculated in step 8 from the figure in which the coordinates Xi, yi of the measurement points adjacent to the intersection C are sequentially connected.

Further, when the intersection point C is obtained, the coordinates of the point C ′ are obtained. Therefore, the area from this value is calculated, and the area of one cross section is obtained by S +.

In step 10, the unit soil volume is obtained by multiplying the value of S + by the movement pitch d obtained from the movement speed υ of the moving carriage 16a.

In this case, since the movement locus of the lightwave rangefinder 20d becomes a triangular shape as shown by a virtual line in FIG.
The cross-sectional area S, may be obtained by the average value of one cycle of the swing movement of.

When the above steps 1 to 10 are repeated over the entire length L of the container portion 12, the unit soil amount for each repetition is added in step 12, and the value is used as the total load of the load 14 and the printer 30. Is printed on.

FIG. 7 shows another example of the identification means for the specific positions A and B. In this example, a prism type optical distance meter 32 is used instead of the color difference meter 26.

This type of lightwave rangefinder 32 is generally used as a light source, such as infrared light, to measure the distance by modulation of the light, because a reflection object is required at the measurement target point, the flange 12c of the container portion 12 The reflection sheet 34 is attached. Further, even with this configuration, the specific positions A and B can be easily identified.

The lightwave rangefinder 20 is not only attached to the shuttle conveyor 16c, but a moving carriage is installed separately from the loading means for loading the load 14, and the moving carriage is placed on the arm of the moving carriage to measure the length of the carriage 10. It may be moved in the direction at predetermined measurement intervals.

<< Effects of the Invention >> As described in detail in the above embodiments, according to the volume measuring method of the load loaded in the carrier according to the present invention, the carrier is measured by the volume measuring device from the quay where the carrier is berthed. When measuring the volume of loads such as sediment and rocks loaded in the container part of the ship, even if there is a change such as tilt of the carrier without being affected by weather such as wind and waves It is possible to accurately measure the volume of a load such as earth and sand or rock crushed loaded on the container part of the carrier while correcting the measurement error due to fluctuation.

[Brief description of drawings]

FIG. 1 is an overall layout drawing showing an embodiment of the device of the present invention, and FIG.
Figure is a detailed view of the mounting state of the lightwave rangefinder, Figure 3 is a block diagram of the arithmetic unit, Figure 4 is a flow chart of the arithmetic unit, Figure 5 is an explanatory diagram of coordinate exchange, and Figure 6 is the top surface of the carrier. FIG. 7 and FIG. 7 are explanatory views showing another example of the identification means of the specific position. 10 …… Cargo ship, 12 …… Container part 12a …… Side wall, 12b …… Opening / closing lid 12c …… Flange, 14 …… Loaded goods 16 …… Conveyor device, 16a …… Movable carriage 16b …… Incoming conveyor, 16c …… Shuttle conveyor 18 ... Arm, 20 ... Lightwave distance meter 22 ... Drive motor, 22a ... Rotation axis 24 ... Angle sensor, 26 ... Color difference meter 28 ... Arithmetic unit, 30 ... Printer

Claims (1)

[Claims] 1. A load loaded on a carrier for measuring the volume of the load such as sediment and rocks loaded on the container of the carrier by a volume measuring device from the quay to which the carrier is ported. A volume measuring method, wherein the volume measuring device receives reflected light of emitted light and measures a distance and an angle to the container part or a load, and a specification provided on the container part. A color difference meter for identifying the position to measure the distance and angle to the specific position, and an identification means such as a prism type lightwave distance meter, and the lightwave distance meter and the identification means are arranged above the container part, The lightwave distance meter is swung in the cross-sectional direction of the load to measure the distance and angle at each side point in the cross-sectional direction, and the identifying means measures the distance and angle to the specific position. Measurement results at each side point in the cross-sectional direction The error due to the fluctuation of the carrier is corrected based on the fluctuation of the measurement result at the specific position, and the sectional shape of the load in the container part is obtained from the corrected measurement result at each side point to determine the load. A method for measuring the volume of a load loaded in a carrier, characterized by measuring the volume.